Up to now the fundamental tool of adaptive nonlinear control design is Lyapunov's 2nd or "Direct" Method. Recently the Sigmoid Generated Fixed Point Transformation (SGFPT) has been introduced for evading the application of the Lyapunov technique. This systematic method has been presented for the generation of whole families of Fixed Point Transformations and has been extended from Single Input Single Output (SISO) to Multiple Input Multiple Output (MIMO) systems. Few studies have been revealed that the original Robust Fixed Point Transformation (RFPT) can be successfully combined with some modification of the classical methods, such as the Modified Adaptive Inverse Dynamic Robot Controller (MAIDRC) and the Modified Adaptive Slotine-Li Robot Controller (MADSLRC). This paper presents that the SGFPT can also well coexist with the MAIDRC control design. Additionally, a novel, even more simplified tuning technique is proposed that also applies fixed point transformation-based tuning rule for parameter identification. The theoretical considerations are validated by numerical simulations made for a 2 Degree of Freedom (DoF) paradigm, in the adaptive control of two coupled mass-points with simultaneous parameter identification.
Application of Fixed Point Transformation to Classical Model Identification using New Tuning Rule / A. Dineva, J.K. Tar, A. Várkonyi Kóczy, V. Piuri - In: Applied Machine Intelligence and Informatics (SAMI), 2017 IEEE 15th International Symposium on[s.l] : IEEE, 2017. - ISBN 9781509056552. - pp. 265-270 (( Intervento presentato al 15. convegno International Symposium on Applied Machine Intelligence and Informatics tenutosi a Herl'any nel 2017.
|Titolo:||Application of Fixed Point Transformation to Classical Model Identification using New Tuning Rule|
DINEVA, ADRIENN ALEXANDRA (Primo)
PIURI, VINCENZO (Ultimo)
|Parole Chiave:||Adaptive Control; Adaptive Inverse Dynamics Robot Controller (AIDRC); Banach's Fixed; Point Theorem; Classical Model Identification; Fixed Point Transformation; Robust Fixed Point Transformation (RFPT); Sigmoid Generated Fixed Point Transformation (SGFPT)|
|Settore Scientifico Disciplinare:||Settore INF/01 - Informatica|
|Data di pubblicazione:||2017|
|Digital Object Identifier (DOI):||http://dx.doi.org/10.1109/SAMI.2017.7880315|
|Tipologia:||Book Part (author)|
|Appare nelle tipologie:||03 - Contributo in volume|